DESIGN AND DEVELOPMENT OF IN-PIPE ROBOT

Abstract

In this report we discuss the locomotion mechanism for in-pipe robot to move in a pipe completely filled with liquid and also use it for inspection purposes. This robot is also capable to traverse in reduced branch pipes which is accomplished with the help of springs coaxial to the axis of the manipulator arm. The robot basically comprises of three main parts i.e. the propeller for providing thrust to robot to move forward, a universal joint for allowing the robot to take turn sharp turns inside the pipe, and the head which holds the steering system. The steering mechanism works with using two motors for providing torque to each steering arm, which will be controlled by a microcontroller. In the next cha2ter, it 'describes the schematic diagram of the robot and kinematic and dynamic analysis have been done using the MATLAB by modifying some of the code which was created by Peter Corke through his robotic toolbox. In the first case, simulation of kinematic and dynamic analysis was done by considering the robot to moving in an empty pipe. Then, considering the robot to move in a fluid filled pipe, the hydrodynamic parameters such as added mass, hydrodynamic drag force, lift force and buoyancy and torque required for the propeller are coded in MATLAB and the total torque acting on the manipulator joint is calculated. Plots for joint position, joint velocity, joint acceleration and joint torque are shown. A CAD model of the schematic model of the in-pipe robot is assembled and animated to show its movement inside a pipe.